%0 Journal Article
	%A Hiromitsu Ogawa and  Manato Ono and  Naohiro Ban and  Yoshihisa Ishida
	%D 2009
	%J International Journal of Electronics and Communication Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 36, 2009
	%T Two Stage Control Method Using a Disturbance Observer and a Kalman Filter
	%U https://publications.waset.org/pdf/5232
	%V 36
	%X This paper describes the two stage control using a disturbance observer and a Kalman filter. The system feedback uses the estimated state when it controls the speed. After the change-over point, its feedback uses the controlled plant output when it controls the position. To change the system continually, a change-over point has to be determined pertinently, and the controlled plant input has to be adjusted by the addition of the appropriate value. The proposed method has noise-reduction effect. It changes the system continually, even if the controlled plant identification has the error. Although the conventional method needs a speed sensor, the proposed method does not need it. The proposed method has a superior robustness compared with the conventional two stage control.

	%P 2265 - 2268